CN109551510A - One kind controling integrated torque can observing and controlling robot revolute joint module - Google Patents
One kind controling integrated torque can observing and controlling robot revolute joint module Download PDFInfo
- Publication number
- CN109551510A CN109551510A CN201811563030.8A CN201811563030A CN109551510A CN 109551510 A CN109551510 A CN 109551510A CN 201811563030 A CN201811563030 A CN 201811563030A CN 109551510 A CN109551510 A CN 109551510A
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- Prior art keywords
- transmission shaft
- encoder
- joint
- torque
- observing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
Abstract
One kind controling integrated torque can observing and controlling robot revolute joint module, including joint housing, joint exports turntable, drive control device, transmission mechanism, torque sensor, first encoder and second encoder, transmission mechanism includes rimless motor, transmission shaft and harmonic speed reducer, rimless motor includes stator and rotor, the stator of rimless motor is fixed in joint housing, transmission shaft is connect with the rotor engagement of rimless motor, one end of transmission shaft and the wave producer of harmonic speed reducer connect, the steel wheel of harmonic speed reducer is fixedly connected with torque sensor one end, the torque sensor other end is fixedly connected with joint output turntable；First encoder is for measuring joint output turntable angular displacement information, and second encoder is for measuring rotor angular displacement information；The control terminal of rimless motor is electrically connected with drive control device, and torque sensor, the first encoder and second encoder are electrically connected with drive control device respectively.The present invention improves joint transmission precision and torque output accuracy.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to one kind controls integrated torque can observing and controlling robot revolute pass
Save module.
Background technique
With the high speed development of modern industrial technology, robot is had been widely used in all trades and professions.Such as automotive field
Welding, spraying, heat treatment, transport, automatic assembling, loading and unloading and detection etc., secondly transport, harbour, food and drug with
And the fields such as electronic manufacture robot is also gradually substituting and is manually being engaged in the repeatability such as heavy dull packaging, transport, carrying
Operation.But precision assembly, repair scrape or the tasks such as grinding workpiece surface, polishing and scouring in using seldom because
It needs end effector of robot to contact in similar task with environment and keeps certain contact force, this just needs robot to have
There are external force perception and power control function.
The mature robot product with power control function is few at present or its price is very high, usually general industry
Several times or more of robot.Simultaneously as the application range of robot expands, some tasks need machine person to person cooperation common
It completes, this just proposes very high requirement to the security performance of robot.The security performance of robot generally uses two kinds at present
Scheme solves, and guarantees safety when interacting with people one is the rigidity by changing robotic structure；Another kind is logical
The control algolithm strategy of software view is crossed to realize the flexibility when contact of the object in machine human and environment.
Therefore can develop that integrated level is high, cost performance is high can force control robot joint module for expanding robot
Application range will generate huge meaning, while can also greatly improve the security performance of robot.
Summary of the invention
Present invention aims to overcome that the shortcomings that prior art and insufficient, provide one kind control integrated torque can observing and controlling
Robot revolute joint module, the moment inspecting that joint of robot may be implemented and control are to realize entire serial manipulator
Power control；The joint of robot modular structure is simple and compact, and joint transmission precision is high, and torque output accuracy is high, and in use
Cabling mode, tailored appearance is beautiful, inherently improves the safety and reliability of robot.
To achieve the above object, The technical solution adopted by the invention is as follows:
One kind control integrated torque can observing and controlling robot revolute joint module, including joint housing, joint output turntable,
Drive control device, transmission mechanism, torque sensor, the first encoder and second encoder, transmission mechanism include rimless motor, biography
Moving axis and harmonic speed reducer, rimless motor include stator and rotor, and the stator of rimless motor is fixed in joint housing, transmission shaft
It is connect with the rotor engagement of rimless motor, one end of transmission shaft and the wave producer of harmonic speed reducer connect, harmonic speed reducer
Steel wheel is fixedly connected with torque sensor one end, and the torque sensor other end is fixedly connected with joint output turntable；First coding
Device is used to measure the angular displacement information of joint output turntable or torque sensor, and second encoder is for measuring rotor or transmission shaft
Angular displacement information；The control terminal of rimless motor is electrically connected with drive control device, and torque sensor, the first encoder and second are compiled
Code device is electrically connected with drive control device respectively.
From the foregoing, it will be observed that the present invention rotates and realizes the revolution of joint output turntable using rimless motor driven transmission shaft, and
The angular displacement information that joint exports turntable or torque sensor is read by the first encoder, rotor is obtained by second encoder
Angular displacement information, by torque sensor measure joint export turntable suffered by moment of face, then drive control device is according to rotor
Angular displacement information, joint output turntable angular displacement information and suffered moment of face, utilize drive control device preset control calculation
Method controls rimless motor rotation.Drive control device exports turntable by the angular displacement information and joint for obtaining rimless rotor
Angular displacement information obtains the deflection angle of rimless rotor and the deflection angle of joint output turntable, and is passed by torque
Sensor obtains the moment of face that outer bound pair joint module applies, and provides necessary condition for the closed-loop feedback of Torque Control, therefore can
The Torque Control of joint module and the Shared control of robot are realized, to improve joint transmission precision and torque output accuracy.
As an improvement of the present invention, first encoder is absolute type encoder, and absolute type encoder includes magnetic
Ring and reading head, the transmission shaft are hollow structure, and harmonic speed reducer is equipped with hollow hole, is equipped in the hollow hole of transmission shaft hollow
Measurement axis, measurement axis one end pass through harmonic speed reducer hollow hole after be fixedly connected with torque sensor, measure the axis other end
It extend out to outside the hollow hole of transmission shaft, absolute type encoder magnet ring is fixed on measurement axis the other end face by the first mounting base
On, absolute type encoder reading head is fixed in joint housing and corresponding with the position of absolute type encoder magnet ring；Measure axis
Hollow hole constitute interior lines cable hole.
Further, bearing is equipped between the transmission shaft and measurement axis.
As an improvement of the present invention, the second encoder is incremental encoder, and incremental encoder includes magnetic
Ring and reading head, incremental encoder magnet ring is fixed in transmission shaft the other end face by the second mounting base, in joint housing
Equipped with second support, the fixation of incremental encoder reading head is on the secondary support bracket and opposite with the position of incremental encoder magnet ring
It answers.
As an improvement of the present invention, the transmission shaft other end is equipped with the stop machine for preventing transmission shaft from arbitrarily rotating
Structure, when joint module is powered, transmission shaft can be freely rotated, and when joint module power loss, transmission shaft is stopped mechanism and blocks not
It can be freely rotated.
As an improvement of the present invention, the stop mechanism includes electromagnet, reset spring, armature and stop snap ring,
On the transmission shaft other end, electromagnet and armature are located in joint housing stop snap ring fixing sleeve, the electricity when joint module is powered
Magnet is powered, and electromagnet and armature are attracted, and armature is in attracted position, and transmission shaft can be freely rotated, when joint module power loss
When electromagnet power loss, armature is replied under action of reset spring moves position to end, and stop snap ring blocked by armature, and transmission shaft cannot
It is freely rotated.
As an improvement of the present invention, the stop mechanism further includes the first limit convex shoulder, wave washer and the second limit
Fixation is located on the transmission shaft other end respectively for position convex shoulder, the first limit convex shoulder and the second limit convex shoulder, wave washer and stop
Ring set is on the transmission shaft other end and is sequentially located between the first limit convex shoulder and the second limit convex shoulder, and stop snap ring is by Corrugation pad
Circle and the second limit convex shoulder squeeze and clamp and cover on the transmission shaft other end.
As an improvement of the present invention, the torque sensor is wheel spoke type sensor, and wheel spoke type sensor includes interior
Ring, outer ring and strain beam, described measurement axis one end are equipped with mounting disc, and the steel wheel of harmonic speed reducer and the side of mounting disc pass through spiral shell
Bolt is fixedly connected, and the outer ring of the torque sensor and the other side of mounting disc are bolted to connection, the moment sensing
The inner ring of device is bolted to connection with joint output turntable.
Further, it is equipped with locating rack in transmission shaft another side in the joint housing, the drive control device passes through
Heat sink is fixed on locating rack.
Further, the joint housing is equipped with end cap in the one end for being located at drive control device, and the end cap passes through copper
Threaded post is fixedly connected with locating rack.
Compared with prior art, the invention has the following advantages that
1, the present invention torque sensor is added in joint module, allow by the module assembled at robot perceive
Force information in environment realizes power control, therefore improves the safety of robot, self-protection, this joint module can be with
Being applied to high-precision assembly, polishing, scouring etc. needs robot end to contact and control with environment in the working environment of power output；
2, drive control device obtains the deflection of the deflection angle and joint output turntable of rimless rotor by encoder
Deflection angle between angle and rotor and joint output turntable is poor, provides necessary condition for the closed-loop feedback of Torque Control,
The Torque Control of joint module and the Shared control of robot are realized, to improve joint transmission precision and torque output accuracy；
3, by using the combination of increment type and absolute type Dual-encoder, and absolute encoder is mounted on joint output
End, so as to realize that joint high precision position controls；
4, the present invention realizes the inside cabling of joint module by reasonable internal structure design and type selecting, to guarantee
The aesthetics of joint of robot appearance.
Detailed description of the invention
Fig. 1 be the present invention control integrated torque can observing and controlling robot revolute joint module schematic diagram；
Fig. 2 is the cross-sectional view of Fig. 1；
Fig. 3 be the present invention control integrated torque can observing and controlling robot revolute joint module the face A-A cross-sectional view；
Fig. 4 be the present invention control integrated torque can observing and controlling robot revolute joint module stop mechanism principle signal
Figure.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.It is understood that tool described herein
Body embodiment is used only for explaining the present invention rather than limiting the invention.It also should be noted that for the ease of retouching
It states, only some but not all contents related to the present invention are shown in the drawings.
Embodiment
Please refer to figs. 1 to 4, one kind control integrated torque can observing and controlling robot revolute joint module, including joint shell
Body 100, joint output turntable 200, drive control device 300, transmission mechanism, torque sensor 400, the first encoder and second are compiled
Code device；
Transmission mechanism includes rimless motor, transmission shaft 20 and harmonic speed reducer 30, and rimless motor includes stator 11 and rotor
12, the stator 11 of rimless motor is fixed in joint housing 100；
The rotor 12 of transmission shaft 20 and rimless motor is cooperatively connected, and one end of transmission shaft 20 and the wave of harmonic speed reducer 30 are sent out
Raw device connection, the steel wheel of harmonic speed reducer 30 are fixedly connected with 400 one end of torque sensor, 400 other end of torque sensor and
Joint output turntable 200 is fixedly connected；First encoder is used to measure the angle of joint output turntable 200 or torque sensor 400
Displacement information, second encoder are used to measure the angular displacement information of rotor 12 or transmission shaft 20；
The control terminal of rimless motor is electrically connected with drive control device 300, torque sensor 400, the first encoder and second
Encoder is electrically connected with drive control device 300 respectively.
From the foregoing, it will be observed that the present invention rotates and realizes the revolution of joint output turntable using rimless motor driven transmission shaft, and
The angular displacement information that joint exports turntable or torque sensor is read by the first encoder, rotor is obtained by second encoder
Angular displacement information, by torque sensor measure joint export turntable suffered by moment of face, then drive control device is according to rotor
Angular displacement information, joint output turntable angular displacement information and suffered moment of face, utilize drive control device preset control calculation
Method controls rimless motor rotation.Drive control device exports turntable by the angular displacement information and joint for obtaining rimless rotor
Angular displacement information obtains the deflection angle of rimless rotor and the deflection angle of joint output turntable, and is passed by torque
Sensor obtains the moment of face that outer bound pair joint module applies, and provides necessary condition for the closed-loop feedback of Torque Control, realizes and close
The Torque Control of module and the Shared control of robot are saved, to improve joint transmission precision and torque output accuracy.
In the present embodiment, first encoder is absolute type encoder, and absolute type encoder includes magnet ring 41 and reads
Several 42, the transmission shaft 20 is hollow structure, harmonic speed reducer 30 is equipped with hollow hole, is equipped in the hollow hole of transmission shaft 20
Empty measurement axis 50, measurement 50 one end of axis are fixedly connected after the hollow hole of harmonic speed reducer 30 with torque sensor 400, are surveyed
Amount 50 other end of axis is extend out to outside the hollow hole of transmission shaft 20, and absolute type encoder magnet ring 41 is fixed on by the first mounting base 43
It measures in 20 the other end face of axis, absolute type encoder reading head 42 is fixed in joint housing 100 and and absolute type encoder
The position of magnet ring 41 is corresponding；The hollow hole for measuring axis 50 constitutes interior lines cable hole.Absolute type encoder can be measured directly
Joint exports turntable opposite base around harmonic speed reducer and the deflection angle of transmission shaft, overcomes harmonic speed reducer and moment sensing
Device has certain flexibility bring location error, improves the position precision of joint module, while complete for joint of robot position
Closed loop feedback provides necessary condition.Connect in addition, measurement axis one end is fixed in a manner of passing through harmonic speed reducer with torque sensor
The hollow hole for connecing, greatly reducing the structure size of joint module, while not influencing measurement result, and measure axis constitutes interior lines and walks
String holes, using interior cabling mode, tailored appearance is beautiful, inherently improves the safety and reliability of robot.Above-mentioned
On the basis of, it is equipped with bearing 21 between the transmission shaft 20 and measurement axis 50, the rotating accuracy of measurement axis can be improved.
In the present embodiment, the second encoder is incremental encoder, and incremental encoder includes magnet ring 61 and reads
Several 62, incremental encoder magnet ring 61 is fixed in 20 the other end face of transmission shaft by the second mounting base 63, joint housing
It is interior be equipped with second support 64, incremental encoder reading head 62 be fixed in second support 64 and with incremental encoder magnet ring 61
Position it is corresponding.The incremental encoder is used to measure the angular displacement information of rotor or transmission shaft, to control more accurately
The velocity of rotation of joint module processed, direction.
On above-mentioned basis, the present invention has also done further improvement, and 20 other end of transmission shaft, which is equipped with, prevents transmission shaft
The stop mechanism arbitrarily rotated, when joint module is powered, transmission shaft 20 can be freely rotated, when joint module power loss, transmission
Axis 20 is stopped mechanism and blocks and cannot be freely rotated.
Specifically, the stop mechanism includes electromagnet 71, reset spring 76, armature 72 and stop snap ring 73, stop
On 20 other end of transmission shaft, electromagnet 71 and armature 72 are located in joint housing 73 fixing sleeve of ring, when joint module is powered
Electromagnet 71 is powered, and electromagnet 71 and armature 72 are attracted, and armature 72 is in attracted position, and transmission shaft 20 can be freely rotated, when
71 power loss of electromagnet when joint module power loss, armature 72 reply under the effect of reset spring 76 and move position, stop snap ring quilt to end
Armature blocks, and transmission shaft 20 cannot be freely rotated.It is matched using electromagnet and armature, armature is set there are two operating position, electric
Magnet is powered, and armature is in attracted position, electromagnet power loss, and armature is in stop position, to reach when joint module is not
When work, prevent transmission shaft from arbitrarily rotating using stop mechanism.
On above-mentioned basis, the present invention has also done further improvement, the stop mechanism further include the first limit convex shoulder 74,
Fixation is located at transmission shaft 20 respectively for wave washer 77 and the second limit convex shoulder 75, the first limit convex shoulder 74 and the second limit convex shoulder 75
On the other end, wave washer 77 and 73 sets of stop snap ring are on 20 other end of transmission shaft and are sequentially located at 74 He of the first limit convex shoulder
Between second limit convex shoulder 75, stop snap ring 73 is squeezed by wave washer 77 and the second limit convex shoulder 75 to be clamped and covers in transmission shaft
On 20 other ends.Stop retainer ring presses are clamped on the transmission shaft other end using wave washer and limit convex shoulder, realizes and utilizes
Frictional force maintains relatively fixed connection between stop snap ring and transmission shaft, and is more than certain when joint exports turntable by moment of face
When size, stop snap ring then skids on the transmission shaft other end, and joint output turntable can rotate, and guarantees stop
Ring is not destroyed by force.
In the present embodiment, the torque sensor 400 is wheel spoke type sensor, and wheel spoke type sensor includes inner ring, outer
Ring and strain beam, described 50 one end of measurement axis are equipped with mounting disc 51, and the steel wheel of harmonic speed reducer 30 and the side of mounting disc 51 are logical
It crosses bolt to be fixedly connected, the outer ring of the torque sensor 400 and the other side of mounting disc 51 are bolted to connection, described
The inner ring of torque sensor 400 is bolted to connection with joint output turntable 200.
In the present embodiment, locating rack 80, the driving are equipped in 20 another side of transmission shaft in the joint housing 100
Controller 300 is fixed on locating rack 80 by heat sink 81.In addition, the joint housing 100 is being located at drive control device 300
One end be equipped with end cap 90, the excessively copper threaded post 91 of the end cap 90 is fixedly connected with locating rack 80, by entire joint module shape
At a closed functional unit, end cap can prevent dust etc. from entering in joint housing, guarantee joint of robot enclosure interior
Safety, while conveniently joint module is repaired.
Compared with prior art, the invention has the following advantages that
1, the present invention torque sensor is added in joint module, allow by the module assembled at robot perceive
Force information in environment realizes power control, therefore improves the safety of robot, self-protection, this joint module can be with
Being applied to high-precision assembly, polishing, scouring etc. needs robot end to contact and control with environment in the working environment of power output；
2, drive control device obtains the deflection of the deflection angle and joint output turntable of rimless rotor by encoder
Deflection angle between angle and rotor and joint output turntable is poor, provides necessary condition for the closed-loop feedback of Torque Control,
The Torque Control of joint module and the Shared control of robot are realized, to improve joint transmission precision and torque output accuracy；
3, by using the combination of increment type and absolute type Dual-encoder, and absolute encoder is mounted on joint output
End, so as to realize that joint high precision position controls；
4, the present invention realizes the inside cabling of joint module by reasonable internal structure design and type selecting, to guarantee
The simple and beautiful property of joint of robot appearance.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. one kind controls integrated torque can observing and controlling robot revolute joint module, it is characterised in that: including joint housing, joint
Exporting turntable, drive control device, transmission mechanism, torque sensor, the first encoder and second encoder, transmission mechanism includes nothing
Frame motor, transmission shaft and harmonic speed reducer, rimless motor include stator and rotor, and the stator of rimless motor is fixed on joint housing
Interior, transmission shaft is connect with the rotor engagement of rimless motor, and one end of transmission shaft and the wave producer of harmonic speed reducer connect, harmonic wave
The steel wheel of retarder is fixedly connected with torque sensor one end, and the torque sensor other end is fixedly connected with joint output turntable；
First encoder is used to measure the angular displacement information of joint output turntable or torque sensor, and second encoder is for measuring rotor
Or the angular displacement information of transmission shaft；The control terminal of rimless motor is electrically connected with drive control device, torque sensor, the first encoder
It is electrically connected respectively with drive control device with second encoder.
2. it is according to claim 1 control integrated torque can observing and controlling robot revolute joint module, it is characterised in that: institute
Stating the first encoder is absolute type encoder, and absolute type encoder includes magnet ring and reading head, and the transmission shaft is hollow structure,
Harmonic speed reducer is equipped with hollow hole, and hollow measurement axis is equipped in the hollow hole of transmission shaft, and measurement axis one end passes through harmonic reduction
It is fixedly connected after the hollow hole of device with torque sensor, the measurement axis other end is extend out to outside the hollow hole of transmission shaft, and absolute type is compiled
Code device magnet ring is fixed in measurement axis the other end face by the first mounting base, and absolute type encoder reading head is fixed on joint shell
It is in vivo and corresponding with the position of absolute type encoder magnet ring；The hollow hole for measuring axis constitutes interior lines cable hole.
3. it is according to claim 2 control integrated torque can observing and controlling robot revolute joint module, it is characterised in that: institute
It states and is equipped with bearing between transmission shaft and measurement axis.
4. it is according to claim 1 control integrated torque can observing and controlling robot revolute joint module, it is characterised in that: institute
Stating second encoder is incremental encoder, and incremental encoder includes magnet ring and reading head, and incremental encoder magnet ring passes through
Second mounting base is fixed in transmission shaft the other end face, and second support, incremental encoder reading head are equipped in joint housing
Fixation is on the secondary support bracket and corresponding with the position of incremental encoder magnet ring.
5. it is according to claim 1 control integrated torque can observing and controlling robot revolute joint module, it is characterised in that: institute
It states the transmission shaft other end and is equipped with the stop mechanism for preventing transmission shaft from arbitrarily rotating, when joint module is powered, transmission shaft can be freely
Rotation, when joint module power loss, transmission shaft is stopped mechanism and blocks and cannot be freely rotated.
6. it is according to claim 5 control integrated torque can observing and controlling robot revolute joint module, it is characterised in that: institute
Stating stop mechanism includes electromagnet, reset spring, armature and stop snap ring, stop snap ring fixing sleeve on the transmission shaft other end,
Electromagnet and armature are located in joint housing, and when joint module is powered, electromagnet is powered, and electromagnet and armature are attracted, armature
In attracted position, transmission shaft can be freely rotated, and the electromagnet power loss when joint module power loss, armature is under action of reset spring
Stop position is returned back to, stop snap ring is blocked by armature, and transmission shaft cannot be freely rotated.
7. it is according to claim 6 control integrated torque can observing and controlling robot revolute joint module, it is characterised in that: institute
Stating stop mechanism further includes the first limit convex shoulder, wave washer and the second limit convex shoulder, the first limit convex shoulder and the second limit convex
Fixation is located on the transmission shaft other end shoulder respectively, and wave washer and stop ring set are on the transmission shaft other end and are sequentially located at the
Between one limit convex shoulder and the second limit convex shoulder, stop snap ring is squeezed by wave washer and the second limit convex shoulder to be clamped and covers and passing
On the moving axis other end.
8. it is according to claim 2 control integrated torque can observing and controlling robot revolute joint module, it is characterised in that: institute
Stating torque sensor is wheel spoke type sensor, and wheel spoke type sensor includes inner ring, outer ring and strain beam, and described measurement axis one end is set
There is mounting disc, the steel wheel of harmonic speed reducer and the side of mounting disc are bolted to connection, the outer ring of the torque sensor
It is bolted to connection with the other side of mounting disc, the inner ring of the torque sensor and joint output turntable are solid by bolt
Fixed connection.
9. it is according to claim 1 control integrated torque can observing and controlling robot revolute joint module, it is characterised in that: institute
It states in joint housing and is equipped with locating rack in transmission shaft another side, the drive control device is fixed on locating rack by heat sink
On.
10. it is according to claim 9 control integrated torque can observing and controlling robot revolute joint module, it is characterised in that:
The joint housing is equipped with end cap in the one end for being located at drive control device, and the end cap is fixed by copper threaded post with locating rack
Connection.
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| CN201811563030.8A CN109551510B (en) | 2018-12-20 | 2018-12-20 | Driving and control integrated moment measurable and controllable robot rotary joint module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811563030.8A CN109551510B (en) | 2018-12-20 | 2018-12-20 | Driving and control integrated moment measurable and controllable robot rotary joint module |
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| CN109551510B CN109551510B (en) | 2023-10-03 |
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| CN109955237A (en) * | 2019-04-30 | 2019-07-02 | 深圳市爱因派科技有限公司 | Two degrees of freedom supersonic motor steering engine and robot |
| CN114939887A (en) * | 2021-02-16 | 2022-08-26 | 亨斯特勒有限公司 | Combined position and torque sensor unit for a robot joint axis module |
| EP4122653A1 (en) * | 2021-07-21 | 2023-01-25 | Coretronic Corporation | Joint actuator of robot |
| US20230182325A1 (en) * | 2021-12-10 | 2023-06-15 | Coretronic Mems Corporation | Joint actuator of robot |
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| US20230022341A1 (en) * | 2021-07-21 | 2023-01-26 | Coretronic Corporation | Joint actuator of robot |
| US20230182325A1 (en) * | 2021-12-10 | 2023-06-15 | Coretronic Mems Corporation | Joint actuator of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109551510B (en) | 2023-10-03 |
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